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The processing requirement of autonomous vehicles (AVs) for high-accuracyperception in complex scenarios can exceed the resources offered by thein-vehicle computer, degrading safety and comfort. This paper proposes a sensorframe processing rate (FPR) estimation model, Zhuyi, that quantifies theminimum safe FPR continuously in a driving scenario. Zhuyi can be employedpost-deployment as an online safety check and to prioritize work. Experimentsconducted using a multi-camera state-of-the-art industry AV system show thatZhuyi's estimated FPRs are conservative, yet the system can maintain safety byprocessing only 36% or fewer frames compared to a default 30-FPR system in thetested scenarios.

Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles